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"""Utitilies to handle KITTI label file."""

import os

from tao_triton.python.types import KittiBbox


def write_kitti_annotation(label_file, objects):
    """Write a kitti annotation file."""
    if not os.path.exists(os.path.dirname(label_file)):
        raise NotFoundError("Label file cannot be written to dir: {}".format(
            os.path.dirname(label_file))
        )
    assert isinstance(objects, list), (
        "The annotation must be a list of objects."""
    )
    with open(label_file, "w") as lfile:
        for label in objects:
            if not isinstance(label, KittiBbox):
                raise NotImplementedError("Cannot serialize label object")
            lfile.write("{}\n".format(str(label)))
    return lfile.closed